318 lines
8.3 KiB
C
318 lines
8.3 KiB
C
#include "config.h"
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#include "string.h"
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#define DEBUG
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#define CONFIG_BASE_ADDRESS (ADDR_FLASH_SECTOR_11)
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#ifdef DEBUG
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Config_Param_t config = {
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#else
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static const Config_Param_t config = {
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#endif
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.chassis = {
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.motor_3508_param[0] = {BSP_CAN_1, 0x201, MOTOR_M3508, false, false},
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.motor_3508_param[1] = {BSP_CAN_1, 0x202, MOTOR_M3508, false, false},
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.motor_3508_param[2] = {BSP_CAN_1, 0x203, MOTOR_M3508, false, false},
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.motor_3508_param[3] = {BSP_CAN_1, 0x204, MOTOR_M3508, false, false},
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.motor_6020_param[0] = {BSP_CAN_1, 0x205, MOTOR_GM6020, false, false},
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.motor_6020_param[1] = {BSP_CAN_1, 0x206, MOTOR_GM6020, false, false},
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.motor_6020_param[2] = {BSP_CAN_1, 0x207, MOTOR_GM6020, false, false},
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.motor_6020_param[3] = {BSP_CAN_1, 0x208, MOTOR_GM6020, false, false},
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.C6020Omega_param = {
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.k = 1.0f,
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.p = 0.5f,
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.i = 0.1f,
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.d = 0.0f,
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.i_limit = 1.0f,
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.out_limit = 1.0f,
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.d_cutoff_freq = -1.0f,
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.range = -1.0f},
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.C6020Angle_param = {
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.k = 0.2f,
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.p = 0.21f,
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.i = 0.1f,
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.d = 0.0f,
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.i_limit = 1.0f,
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.out_limit = 30.0f,
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.d_cutoff_freq = -1.0f,
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.range = 360
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},
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.M3508v_param = {
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// .k=0.2f,
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// .p=0.25f,
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// .i=0.1f,
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// .d=0.0f,
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// .i_limit=1.0f,
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// .out_limit=1.0f,
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// .d_cutoff_freq= -1.0f,
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// .range=-1.0f
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.k = 1.0f,
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.p = 4.0f,
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.i = 0.0f,
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.d = 0.0f,
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.i_limit = 1.0f,
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.out_limit = 1.0f,
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.d_cutoff_freq = -1.0f,
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.range = -1.0f
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},
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.chassis_follow_gimbalPID = {
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.k = 0.7f,
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.p = 0.5f,
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.i = 0.1f,
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.d = 0.0f,
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.i_limit = 1.0f,
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.out_limit = 0.5f,
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.d_cutoff_freq = -1.0f,
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.range = M_2PI
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},
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/*这两个数据是云台6020的零点和机械限位*/
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.mech_zero = 1.31f,
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.travel = 1.4f,
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.mech_zero_4310=2.06f,
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},
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.gimbal = {
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.yaw_6020_motor ={BSP_CAN_2, 0x209, MOTOR_GM6020, false, true},
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.yaw_4310_motor = {
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.can = BSP_CAN_2,
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.can_id = 0x1,
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.master_id = 0x11,
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.module = MOTOR_DM_J4310,
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.reverse = false
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},
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.pitch_4310_motor = {
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.can = BSP_CAN_2,
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.can_id = 0x2,
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.master_id = 0x12,
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.module = MOTOR_DM_J4310,
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.reverse = true
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},
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.pid.pitch_4310_motor_angle = {
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.k = -2.0f,
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.p = 3.1f, //2.0
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.i = 0.1f, //0.0
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.d = 2.5f, //0.0
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.i_limit = 1.0f,
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.out_limit = 10.0f,
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.d_cutoff_freq = -1.0f,
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.range = M_2PI
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},
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.pid.pitch_4310_motor_omega = {
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.k = 0.3f,
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.p = 0.3f,
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.i = 0.0f,
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.d = 0.0f,
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.i_limit = 0.0f,
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.out_limit = 1.0f,
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.d_cutoff_freq = -1.0f,
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.range = -1.0f
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},
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.pid.yaw_4310_motor_angle = {
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// .k = 2.0f,
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// .p = 6.0f,
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// .i = 0.01f,
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// .d = 0.1f,
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// .i_limit = 0.0f,
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// .out_limit = 7.0f,
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// .d_cutoff_freq = 20.0f,
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// .range = M_2PI
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.k = 2.0f,
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.p = 5.0f,
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.i = 0.0f,
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.d = 1.0f,
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.i_limit = 0.0f,
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.out_limit = 10.0f,
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.d_cutoff_freq = 20.0f,
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.range = M_2PI
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},
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.pid.yaw_4310_motor_omega = {
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.k = 0.5f,
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.p = 0.5f,
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.i = 0.0f,
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.d = 0.0f,
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.i_limit = 0.0f,
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.out_limit = 1.0f,
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.d_cutoff_freq = -1.0f,
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.range = -1.0f
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},
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.pid.yaw_6020_motor_angle = {
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// .k = 2.0f,
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// .p = 2.5f,
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// .i = 0.0f,
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// .d = 0.0f,
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// .i_limit = 0.0f,
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// .out_limit = 10.0f,
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// .d_cutoff_freq = 0.0f,
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// .range = M_2PI
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/*上面一组pid会导致电机超调，可能是因为pid计算错误，正在进行重新修改pid*/
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// .k = 2.0f,
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// .p = 5.0f,
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// .i = 0.0f,
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// .d = 0.0f,
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// .i_limit = 1.0f,
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// .out_limit = 10.0f,
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// .d_cutoff_freq = 0.0f,
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// .range = M_2PI
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.k = 2.0f,
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.p = 7.0f,
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.i = 0.5f,
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.d = 1.0f,
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.i_limit = 1.0f,
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.out_limit = 10.0f,
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.d_cutoff_freq = 0.0f,
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.range = M_2PI
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},
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.pid.yaw_6020_motor_omega = {
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// .k = 0.30f,
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// .p = 0.4f,
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// .i = 0.01f,
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// .d = 0.0f,
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// .i_limit = 1.0f,
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// .out_limit = 1.0f,
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// .d_cutoff_freq = -1.0f,
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// .range = -1.0f
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// .k = 0.35f,
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// .p = 0.3f,
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// .i = 0.0f,
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// .d = 0.0f,
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// .i_limit = 1.0f,
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// .out_limit = 1.0f,
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// .d_cutoff_freq = -1.0f,
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// .range = -1.0f
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.k = 0.35f,
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.p = 0.35f,
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.i = 0.0f,
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.d = 0.0f,
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.i_limit = 1.0f,
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.out_limit = 1.0f,
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.d_cutoff_freq = -1.0f,
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.range = -1.0f
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},
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.mech_zero = {
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.yaw_6020 = 1.31f,
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.yaw_4310 = 2.06f, /*大yaw零点*/
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.pitch_4310 = 0.93f,
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},
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.travel = {
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.yaw_6020 = 1.4f,
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.yaw_4310 = -1.0f, /*大yaw无限位*/
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.pitch_4310 = 0.9f,
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// .pitch_4310=-1.0f,/*pitch无限位*/
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},
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.low_pass_cutoff_freq={
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.out = -1.0f,
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.gyro = 20.0f,
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}
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},
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.shoot = {
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.motor.fric[0] = {{BSP_CAN_2, 0x201, MOTOR_M3508, false, false},.level=1},
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.motor.fric[1] = {{BSP_CAN_2, 0x202, MOTOR_M3508, true, false},.level=1},
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.motor.trig = {BSP_CAN_2, 0x203, MOTOR_M2006, false, true},
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.basic.projectileType = SHOOT_PROJECTILE_17MM,
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.basic.fric_num = 2,
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.basic.extra_deceleration_ratio = 1,
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.basic.ratio_multilevel[0] = 1.0f,
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.basic.num_trig_tooth = 8,
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.basic.shot_freq = 5.0f,
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.basic.shot_burst_num = 1,
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.jamDetection.enable = true,
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.jamDetection.threshold = 120.0f,
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.jamDetection.suspectedTime = 0.5f,
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.pid = {
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.fric_follow = {
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.k = 1.0f,
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.p = 1.5f,
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.i = 0.3f,
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.d = 0.0f,
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.i_limit = 0.2f,
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.out_limit = 0.9f,
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.d_cutoff_freq = -1.0f,
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.range = -1.0f,
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},
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.fric_err={
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.k=0.0f,
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.p=4.0f,
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.i=0.4f,
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.d=0.0f,
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.i_limit=0.25f,
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.out_limit=0.25f,
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.d_cutoff_freq=-1.0f,
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.range=-1.0f,
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},
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.trig_2006={
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.k=0.7f,
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.p=0.7f,
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.i=0.5f,
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.d=0.05f,
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.i_limit=0.2f,
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.out_limit=1.0f,
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.d_cutoff_freq=-1.0f,
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.range=M_2PI,
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},
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.trig_omg_2006={
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.k=3.0f,
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.p=2.0f,
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.i=0.2f,
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.d=0.5f,
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.i_limit=0.2f,
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.out_limit=1.0f,
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.d_cutoff_freq=-1.0f,
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.range=-1.0f,
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},
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},
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.filter = {
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.fric = {
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.in = 30.0f,
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.out = 30.0f,
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},
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.trig = {
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.in = 30.0f,
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.out = 30.0f,
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},
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}
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}
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};
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/**
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* @brief 获取机器人配置参数
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* @return 机器人配置参数指针
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*/
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Config_Param_t *Config_GetRobotParam(void)
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{
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return &config;
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}
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